Name
Title | ||
|---|---|---|
Positive dimensional parametric polynomial systems, connectivity queries and applications in robotics |
Abstract | ||
|---|---|---|
In this paper we introduce methods and algorithms that will help us solve connectivity queries of parameterized semi-algebraic sets. Answering these connectivity queries is applied in the design of robotic structures having similar kinematic properties (e.g. topology of the kinematic-singularity-free space). From these algorithms one also obtain solutions to connectivity queries of a specific parameter which is in turn related to kinematic-singularity free path-planning of a specific manipulator belonging to the family of robots with these properties; i.e. we obtain paths joining two given singularity free configurations lying in the same connected component of the singularity-free space. |
Year | DOI | Venue |
|---|---|---|
2023 | 10.1016/j.jsc.2022.08.008 | Journal of Symbolic Computation |
Keywords | DocType | Volume |
Polynomial systems,Semi-algebraic sets,Roadmaps,Kinematic singularity | Journal | 115 |
ISSN | Citations | PageRank |
0747-7171 | 0 | 0.34 |
References | Authors | |
0 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jose Capco | 1 | 0 | 0.34 |
| Mohab Safey El Din | 2 | 450 | 35.64 |
| Josef Schicho | 3 | 0 | 0.34 |